CN112499248A - Convertible centre gripping manipulator - Google Patents
Convertible centre gripping manipulator Download PDFInfo
- Publication number
- CN112499248A CN112499248A CN202011507847.0A CN202011507847A CN112499248A CN 112499248 A CN112499248 A CN 112499248A CN 202011507847 A CN202011507847 A CN 202011507847A CN 112499248 A CN112499248 A CN 112499248A
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- pulley
- plate
- clamping
- bottom plate
- top plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an overturning type clamping manipulator which comprises a material taking clamp, wherein the material taking clamp comprises a clamp connecting plate, a mounting seat, an overturning gear, an overturning connecting piece, a clamping slide rail, L-shaped clamping fingers, a material taking overturning motor and a clamping cylinder, the L-shaped clamping fingers are arranged on two sides of the clamping slide rail in a sliding mode, the material taking overturning motor is used for driving the material taking clamp to overturn, the clamping cylinder is used for driving the clamping fingers to overturn, the mounting seat is fixedly arranged on the material taking connecting plate, the material taking overturning motor is fixedly arranged on the mounting seat, the output end of the material taking overturning motor is connected with a driving gear, one end of the overturning connecting piece is fixedly connected with the overturning gear, the other end of the overturning connecting piece is fixedly connected with the clamping slide rail, the; one end of the telescopic cylinder is hinged on the material taking frame, and the other end of the telescopic cylinder is hinged on the clamp connecting plate; the invention can clamp and turn over a container containing materials to take the materials.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a turnover type clamping manipulator.
Background
With the rapid development of modern science and technology, manual sorting has been increasingly unable to meet the sorting requirements of modern industry. Meanwhile, the manual sorting speed is low, the efficiency is low, the accidental error is large, the full automation level cannot be realized, and the workload of workers is increased. In view of the above, there is a need for a device for automatically taking a material.
Disclosure of Invention
The invention provides a material taking device, which can clamp and overturn a container containing materials to take materials by utilizing the structure of the invention.
In order to achieve the purpose, the technical scheme of the invention is as follows: a turnover type clamping manipulator comprises a material taking clamp, wherein the material taking clamp comprises a clamp connecting plate, a mounting seat, a turnover gear, a turnover connecting piece, a clamping slide rail, L-shaped clamping fingers arranged on two sides of the clamping slide rail in a sliding mode, a material taking turnover motor used for driving the material taking clamp to turn over and a clamping cylinder used for driving the clamping fingers, the mounting seat is fixedly arranged on the material taking connecting plate, the material taking turnover motor is fixedly arranged on the mounting seat, the output end of the material taking turnover motor is connected with a driving gear, one end of the turnover connecting piece is fixedly connected with the turnover gear, the other end of the turnover connecting piece is fixedly connected with the clamping slide rail, the turnover connecting piece is hinged to the mounting seat, the driving gear is meshed with the turnover gear, and two ends of; one end of the telescopic cylinder is hinged on the material taking frame, and the other end of the telescopic cylinder is hinged on the clamp connecting plate;
the L-shaped clamping finger comprises a limiting plate, a pulley bottom plate, a pulley top plate, pulley side plates, a pulley block, a supporting pad and a supporting plate; the supporting pad is fixedly installed between the pulley bottom plate and the pulley top plate, two sides of the pulley bottom plate are respectively provided with a pulley bottom plate groove, and a slide block bottom plate avoiding hole is formed in the position, corresponding to the pulley block, of the pulley bottom plate; two sides of the pulley top plate are respectively provided with a pulley top plate groove, and a slide block top plate avoiding hole is formed in the position, corresponding to the pulley block, of the pulley top plate; the upper side and the lower side of the pulley side plate are respectively provided with a pulley side plate bulge, and the position of the pulley side plate corresponding to the pulley block is provided with a slide block side plate avoiding hole; the pulley side plate bulge at the lower side of the pulley side plate is clamped in a pulley bottom plate groove positioned on a pulley bottom plate, and the pulley side plate bulge at the upper side of the pulley side plate is clamped in a pulley top plate groove positioned on a pulley top plate; the limiting plate is fixedly arranged at one end of the clamping slide rail, which is far away from the mounting seat; the supporting pad is fixedly arranged between the pulley top plate and the pulley bottom plate; the two sides of the supporting plate are respectively fixedly connected with a pulley bottom plate and a pulley top plate.
According to the arrangement, when the material taking clamp takes materials, the material taking turnover motor works, the material taking turnover motor drives the turnover gear to rotate through the driving gear, the turnover gear drives the turnover connecting piece to swing, and the turnover connecting piece drives the turnover sliding rail to swing; when the clamping cylinder works, the L-shaped clamping fingers are driven to slide on the clamping slide rail; the turnover motor is driven again, the turnover motor rotates in the opposite direction, the clamping cylinder drives the turnover motor to loosen the container, and the material taking action is completed.
Furthermore, the supporting pad is fixedly arranged between the limiting plate and the supporting plate, the upper side and the lower side of the supporting plate are respectively provided with a supporting plate bulge, and a first avoidance groove is formed in the bottom plate of the pulley; a second avoidance groove is formed in the top plate of the pulley; the supporting plate bulge at the lower side of the supporting plate is clamped in a first avoidance groove positioned on the bottom plate of the scooter; the protruding card of backup pad upside is located the second of scooter roof and dodges the recess in, and the supporting effect is good, stable in structure.
Furthermore, one side of L type centre gripping finger is equipped with two limiting plates altogether, and limiting plate symmetry fixed mounting is spacing effectual on the centre gripping slide rail.
Furthermore, L type centre gripping finger still is equipped with the turning block and gets the bullet and rotate the piece, and turning block fixed mounting just keeps away from the one end of mount pad between coaster roof and coaster bottom plate, gets the bullet and rotates the piece and articulate on the turning block, is convenient for get the material during the upset.
Furthermore, be equipped with the spacing groove between turning block and the backup pad, one side of getting the bullet and rotating the piece is equipped with spacing post, and spacing post setting is at spacing inslot, like this, can rotate the piece to getting the bullet and carry on spacingly.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of another embodiment of the present invention.
Fig. 3 is an exploded view of the present invention.
Fig. 4 is an exploded view of the L-shaped finger clip of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, in this embodiment, a material taking device includes a material taking clamp 55 including a mounting base 552, a turnover gear 553, a turnover connecting member 554, clamping slide rail 555, the L type centre gripping finger 556 of slip setting in clamping slide rail 555 both sides, a centre gripping cylinder 558 that is used for the drive to get the material upset motor 557 and is used for driving clamping finger 556 of getting the material anchor clamps upset, mount pad 552 fixed mounting is on getting material connecting plate 524, get material upset motor 557 fixed mounting on mount pad 552, the output of getting material upset motor 557 is connected with drive gear 5571, upset connecting piece 554 one end and upset gear 553 fixed connection, upset connecting piece 554 other end fixed connection clamping slide rail 555, upset connecting piece 554 articulates on mount pad 552, drive gear 5571 meshes with upset gear 553, the both ends of clamping cylinder 558 are fixed connection respectively on two L type clamping finger 556.
The L-shaped clamping finger 556 comprises a limiting plate 5562, a pulley bottom plate 5563, a pulley top plate 5564, a pulley side plate 5565, a pulley block 5566, a supporting pad 5567 and a supporting plate 5568; pulley bottom plate grooves 55631 are respectively arranged on two sides of the pulley bottom plate 5563, and a slide block bottom plate avoidance hole 55632 is arranged at the position of the pulley bottom plate 5563 corresponding to the pulley block 5566; pulley top plate grooves 55641 are respectively arranged on two sides of the pulley top plate 5564, and a slide block top plate avoiding hole 55642 is arranged at the position of the pulley top plate 5564 corresponding to the pulley block; pulley side plate protrusions 55651 are respectively arranged on the upper side and the lower side of the pulley side plate 5565, and a slider side plate avoidance hole 55652 is arranged at the position, corresponding to the pulley block 5566, of the pulley side plate 5565; the pulley side plate protrusion 55651 on the lower side of the pulley side plate 5565 is clamped in the pulley bottom plate groove 55631 on the pulley bottom plate 5563, and the pulley side plate protrusion 55651 on the upper side of the pulley side plate 5565 is clamped in the pulley top plate groove 55641 on the pulley top plate 5564; the limiting plate 5562 is fixedly arranged at one end of the clamping slide rail 555 far away from the mounting seat 552; the support pad 5567 is fixedly mounted between the trolley top plate 5564 and the trolley bottom plate 5563; two sides of the supporting plate 5568 are respectively fixedly connected with a pulley bottom plate 5563 and a pulley top plate 5564.
The supporting pad 5567 is fixedly installed between the pulley bottom plate 5563 and the pulley top plate 5564 and is positioned between the limiting plate 5562 and the supporting plate 5568, the supporting pad 5567 on one side is provided with an installation slot 55671, and a cylinder body of the clamping cylinder 558 is installed in the installation slot; the upper side and the lower side of the supporting plate 5568 are respectively provided with a supporting plate bulge 55681, and a first avoidance groove 55633 is arranged on the pulley bottom plate 5563; a second avoidance groove 55643 is arranged on the pulley top plate 5564; the lower support plate protrusion 55681 of the support plate 5567 is captured in the first escape groove 55633 located in the sled floor 5563; the upper support plate protrusion 55681 of the support plate 5568 is caught in the second escape groove 55643 located in the roof panel 5564; one side of each L-shaped clamping finger 556 is provided with two limiting plates 5562, and the limiting plates 5562 are symmetrically and fixedly mounted on the clamping slide rail 555.
The L-shaped clamping finger 556 is further provided with a rotating block 55612 and an ejection rotating piece 5561, the rotating block 55612 is fixedly installed at one end, away from the installation base 552, between the tackle top plate 5564 and the tackle bottom plate 5563, and the ejection rotating piece 5561 is hinged to the rotating block 55612; a limiting groove 5569 is arranged between the rotating block 55612 and the supporting plate 5568, and a limiting column is arranged on one side of the bullet taking and rotating piece and is arranged in the limiting groove 5569.
When the material taking turnover motor 557 works, the material taking turnover motor 557 drives the turnover gear 553 to rotate through the driving gear 5571, the turnover gear 553 drives the turnover connecting piece 554 to swing, and the turnover connecting piece 554 drives the turnover sliding rail 55 to swing. If the clamping cylinder 558 works, the L-shaped clamping fingers 556 can be driven to slide on the clamping slide rail 555.
The working principle of the invention is as follows: when the material taking clamp takes materials, the material taking overturning motor works, the material taking overturning motor drives the overturning gear to rotate through the driving gear, the overturning gear drives the overturning connecting piece to swing, and the overturning connecting piece drives the overturning sliding rail to swing; when the clamping cylinder works, the L-shaped clamping fingers are driven to slide on the clamping slide rails, the container for containing materials is clamped by the elastic rotating piece, and the limiting grooves are opposite to the limiting columns to prevent the materials in the container from being poured out when the materials are not turned over; the turnover motor is driven again, the turnover motor rotates in the opposite direction, the clamping cylinder drives the turnover motor to loosen the container, and the material taking action is completed.
Claims (6)
1. The utility model provides a convertible centre gripping manipulator which characterized in that: the material taking clamp comprises a clamp connecting plate, a mounting seat, a turnover gear, a turnover connecting piece, a clamping slide rail, L-shaped clamping fingers, a material taking turnover motor and a clamping cylinder, wherein the L-shaped clamping fingers are arranged on two sides of the clamping slide rail in a sliding mode;
the L-shaped clamping finger comprises a limiting plate, a pulley bottom plate, a pulley top plate, a pulley side plate, a pulley block, a supporting pad and a supporting plate; the supporting pad is fixedly installed between the pulley bottom plate and the pulley top plate, two sides of the pulley bottom plate are respectively provided with a pulley bottom plate groove, and a slide block bottom plate avoiding hole is formed in the position, corresponding to the pulley block, of the pulley bottom plate; two sides of the pulley top plate are respectively provided with a pulley top plate groove, and a slide block top plate avoiding hole is formed in the position, corresponding to the pulley block, of the pulley top plate; the upper side and the lower side of the pulley side plate are respectively provided with a pulley side plate bulge, and the position of the pulley side plate corresponding to the pulley block is provided with a slide block side plate avoiding hole; the pulley side plate bulge at the lower side of the pulley side plate is clamped in a pulley bottom plate groove positioned on a pulley bottom plate, and the pulley side plate bulge at the upper side of the pulley side plate is clamped in a pulley top plate groove positioned on a pulley top plate; the limiting plate is fixedly arranged at one end of the clamping slide rail, which is far away from the mounting seat; the supporting pad is fixedly arranged between the pulley top plate and the pulley bottom plate; the two sides of the supporting plate are respectively fixedly connected with a pulley bottom plate and a pulley top plate.
2. The flipping clamping manipulator of claim 1, wherein: the supporting pad is fixedly arranged between the limiting plate and the supporting plate, the upper side and the lower side of the supporting plate are respectively provided with a supporting plate bulge, and the pulley bottom plate is provided with a first avoidance groove; a second avoidance groove is formed in the top plate of the pulley; the supporting plate bulge at the lower side of the supporting plate is clamped in a first avoidance groove positioned on the bottom plate of the scooter; the supporting plate bulge on the upper side of the supporting plate is clamped in a second avoiding groove in the top plate of the scooter.
3. The flipping clamping manipulator of claim 1, wherein: and two limiting plates are arranged on one side of the L-shaped clamping finger, and the limiting plates are symmetrically and fixedly arranged on the clamping slide rail.
4. The flipping clamping manipulator of claim 1, wherein: the L-shaped clamping finger is further provided with a rotating block and an elastic taking rotating piece, the rotating block is fixedly installed at one end, away from the installation seat, between the pulley top plate and the pulley bottom plate, and the elastic taking rotating piece is hinged to the rotating block.
5. The flipping clamping manipulator of claim 4, wherein: a limiting groove is formed between the rotating block and the supporting plate, a limiting column is arranged on one side of the bullet taking and rotating piece, and the limiting column is arranged in the limiting groove.
6. The flipping clamping manipulator of claim 1, wherein: the supporting pad of one side is provided with an installation slot position, and the cylinder body of the clamping cylinder is installed in the installation slot position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011507847.0A CN112499248B (en) | 2020-12-18 | 2020-12-18 | Convertible centre gripping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011507847.0A CN112499248B (en) | 2020-12-18 | 2020-12-18 | Convertible centre gripping manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112499248A true CN112499248A (en) | 2021-03-16 |
| CN112499248B CN112499248B (en) | 2022-12-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011507847.0A Active CN112499248B (en) | 2020-12-18 | 2020-12-18 | Convertible centre gripping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112499248B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115610991A (en) * | 2022-12-07 | 2023-01-17 | 广州城市理工学院 | Charging device |
| CN115648253A (en) * | 2022-12-07 | 2023-01-31 | 广州城市理工学院 | Material supplementing method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07276283A (en) * | 1994-04-06 | 1995-10-24 | N Ke Kk | Holding device |
| CN204111174U (en) * | 2014-09-29 | 2015-01-21 | 广东富华重工制造有限公司 | Brake wheel lifting automatic turning device |
| CN205148344U (en) * | 2015-11-02 | 2016-04-13 | 彭亚洲 | Self -interacting mechanical gripper |
| CN107443414A (en) * | 2017-08-29 | 2017-12-08 | 无为县鑫品石业有限公司 | A kind of pickup handgrip of Dali stone ceramic tile |
| CN211254381U (en) * | 2020-07-01 | 2020-08-14 | 深圳大学 | Three-shaft clamping and carrying robot with ladder climbing mechanism |
| CN211333253U (en) * | 2019-11-01 | 2020-08-25 | 河南工程学院 | Clamping workbench of turnover manipulator |
| CN211916819U (en) * | 2020-03-04 | 2020-11-13 | 厦门和健卫生技术服务有限公司 | A centre gripping snatchs robotic arm for stifling gaseous concentration detection of disinfection |
-
2020
- 2020-12-18 CN CN202011507847.0A patent/CN112499248B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07276283A (en) * | 1994-04-06 | 1995-10-24 | N Ke Kk | Holding device |
| CN204111174U (en) * | 2014-09-29 | 2015-01-21 | 广东富华重工制造有限公司 | Brake wheel lifting automatic turning device |
| CN205148344U (en) * | 2015-11-02 | 2016-04-13 | 彭亚洲 | Self -interacting mechanical gripper |
| CN107443414A (en) * | 2017-08-29 | 2017-12-08 | 无为县鑫品石业有限公司 | A kind of pickup handgrip of Dali stone ceramic tile |
| CN211333253U (en) * | 2019-11-01 | 2020-08-25 | 河南工程学院 | Clamping workbench of turnover manipulator |
| CN211916819U (en) * | 2020-03-04 | 2020-11-13 | 厦门和健卫生技术服务有限公司 | A centre gripping snatchs robotic arm for stifling gaseous concentration detection of disinfection |
| CN211254381U (en) * | 2020-07-01 | 2020-08-14 | 深圳大学 | Three-shaft clamping and carrying robot with ladder climbing mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115610991A (en) * | 2022-12-07 | 2023-01-17 | 广州城市理工学院 | Charging device |
| CN115648253A (en) * | 2022-12-07 | 2023-01-31 | 广州城市理工学院 | Material supplementing method |
| CN115648253B (en) * | 2022-12-07 | 2024-06-14 | 广州城市理工学院 | Material supplementing method |
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| Publication number | Publication date |
|---|---|
| CN112499248B (en) | 2022-12-13 |
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